Er.510 - Frequency-Division Pulse Output Overspeed

Fault Code Description:
Er.510 indicates that the frequency of the encoder's frequency-division pulse output has exceeded the hardware limit of 2 MHz. This issue may arise due to incorrect frequency settings or interference in the input signals.

Causes:

    Output pulse frequency exceeds hardware limit (2 MHz):
- The calculated pulse frequency, based on motor speed and the frequency-division pulse output, may exceed the hardware limit.

    Input pulse frequency exceeds hardware limit or input signal interference:
- Sending fast pulses or interference in the input signals can trigger an overspeed error.

Troubleshooting and Solutions:

    Output pulse frequency exceeds hardware limit:
- Troubleshooting Method: Calculate the output pulse frequency using motor speed and the related parameter (H05-17). Check if the increase in motor speed causes the pulse frequency to exceed the hardware limit (2 MHz).
- Solution: Reduce the H05-17 (encoder frequency-division pulse) value to keep the pulse frequency below the hardware limit.

    Input pulse frequency exceeds hardware limit or interference:
- Troubleshooting Method: Check the pulse frequency of the input signals (differential or open-collector inputs) and ensure they do not exceed the 2 MHz limit. Maximum frequencies for low-speed inputs: 500 kpps for differential inputs, 200 kbps for open-collector inputs. Maximum frequency for high-speed inputs: 2 Mpps.
- Solution: Keep the input pulse frequency below the hardware limit. If the pulse frequency is within the limit but the error persists, use STP cables to block interference and adjust the H0A-24 or H0A-30 pin filtering parameters.

Summary:
Er.510 occurs when the pulse frequency exceeds the hardware limit. To resolve this error, check the frequency-division settings and ensure the pulse frequency is within the hardware limits. Take measures to reduce interference in input signals by using proper cables and filtering.

Er.601 - Home Return Timeout

Fault Code Description:
Er.601 occurs when the home return function (H05-30 = 1 to 5) is used, and the home position cannot be located within the designated time.

Possible Causes and Solutions:

    Home switch is faulty:
- Troubleshooting Method: Only a high-speed search is performed, and a low-speed search is not. After the high-speed search, the drive continues low-speed reverse searching. If using hardware DI (digital input), check whether FunIN.31: HomeSwitch is assigned to a DI, and check the DI wiring. Manually change the DI logic and observe if the servo drive detects the change in DI level via H0B-03.
- Solution: If there is a wiring issue, correct the DI wiring. If the issue persists, ensure the home function is used correctly. If using virtual DI, ensure it is properly configured.

    Search time is too short:
- Troubleshooting Method: The home return time set in H05-35 may be too short.
- Solution: Increase the H05-35 value.

    Low speed for home switch signal during high-speed search:
- Troubleshooting Method: Check the distance from the initial position to the home switch. If H05-32 (home switch signal speed during high-speed search) is too low, the time to locate the home switch may be too long.
- Solution: Increase the H05-32 value.

Additional Notes:
Both wiring and time settings should be carefully checked during home return. Correcting wiring issues and setting the appropriate times will resolve this error.

Er.602 - Angle Auto-Tuning Failure

Fault Code Description:
Er.602 indicates that the angle auto-tuning process for the servo motor has failed. This error may occur if the motor is under excessive load or if there are connection problems with the encoder cables.

Causes:

    The load is too heavy:
- The motor may be subjected to too much load during auto-tuning, preventing the motor from tuning properly.

    Loose encoder connection or Z signal not detected:
- If the encoder cables are not correctly connected, the motor may fail to detect its position.

Troubleshooting and Solutions:

    The load is too heavy:
- Troubleshooting Method: Observe whether the motor is rotating during auto-tuning. An excessive load may prevent the motor from rotating properly.
- Solution: Reduce the load or increase the current loop gain.

    Loose encoder connection or Z signal not detected:
- Troubleshooting Method: Check whether the motor is rotating properly. If the encoder cables are loose, the motor may not function correctly.
- Solution: Replace the encoder cable or secure the connection.

Summary:
Er.602 indicates a failure during angle auto-tuning. To resolve this error, check the motor's load, remove the load or adjust the gain, and verify that the encoder cables are securely connected.

Er.610 - Servo Drive Overload

Fault Code Description:
Er.610 indicates that the servo drive is overloaded and cannot operate under the current load. This error is typically caused by incorrect settings for the servo drive or motor, excessive loading, mechanical obstructions, or issues such as a locked rotor.

Causes:

    Incorrect parameter settings:
- The drive serial number (SN) and gain parameters may be set incorrectly.

    The servo drive load ratio is too high (excessive load inertia):
- The servo drive may be under excessive strain or subject to high inertia.

    The servo drive load ratio is too high (mechanical obstruction):
- The servo drive may be struggling due to a mechanical blockage.

    Motor rotor is locked:
- The motor rotor may be locked due to overheating.

Troubleshooting and Solutions:

    Incorrect parameter settings:
- Troubleshooting Method: Check the H01-02 (drive serial number) and gain parameters (H08 group). Also, review the stiffness settings (H09-00 and H09-01).
- Solution: Set H01-02 according to the actual drive serial number. Adjust parameters based on feedback current.

    The servo drive load ratio is too high (excessive load inertia):
- Troubleshooting Method: Check H0B-12 (average load ratio). If the load ratio is above 80%, use the automatic inertia tuning function.
- Solution: Switch to a higher-powered drive model.

    The servo drive load ratio is too high (mechanical obstruction):
- Troubleshooting Method: Check H0B-12 and observe whether there is a blockage under load.
- Solution: Remove the mechanical obstruction.

    Motor rotor is locked:
- Troubleshooting Method: Check H0A-33 (locked rotor overheat protection). If this value is zero, Er.610 will occur in the case of a locked rotor.
- Solution: Follow the steps for Er.630 to resolve the locked rotor issue.

Summary:
Er.610 occurs due to overloading of the servo drive. To resolve this error, check the parameter settings, optimize the load ratio, remove mechanical obstructions, and address any locked rotor issues. Follow the appropriate steps to prevent further overloads.

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